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Artificial agents will need to be aware of human moral and social norms, and able to use them in decision-making. In particular, artificial agents will need a principled approach to managing conflicting norms, which are common in human…

Temporal planning is an extension of classical planning involving concurrent execution of actions and alignment with temporal constraints. Durative actions along with invariants allow for modeling domains in which multiple agents operate in…

Building a dialogue agent to fulfill complex tasks, such as travel planning, is challenging because the agent has to learn to collectively complete multiple subtasks. For example, the agent needs to reserve a hotel and book a flight so that…

Partially observable Markov decision processes have been widely used to provide models for real-world decision making problems. In this paper, we will provide a method in which a slightly different version of them called Mixed observability…

Reinforcement learning (RL) techniques, while often powerful, can suffer from slow learning speeds, particularly in high dimensional spaces. Decomposition of tasks into a hierarchical structure holds the potential to significantly speed up…

This paper investigates the motion planning of autonomous dynamical systems modeled by Markov decision processes (MDP) with unknown transition probabilities over continuous state and action spaces. Linear temporal logic (LTL) is used to…

Multi-level Hierarchical Classification (MLHC) tackles the challenge of categorizing items within a complex, multi-layered class structure. However, traditional MLHC classifiers often rely on a backbone model with independent output layers,…

The standard Markov Decision Process (MDP) formulation hinges on the assumption that an action is executed immediately after it was chosen. However, assuming it is often unrealistic and can lead to catastrophic failures in applications such…

Multi-agent large language model (LLM) systems often rely on a controller to coordinate a pool of heterogeneous models, yet existing controllers are typically limited to one-shot routing: they select a model once and return its output…

This paper develops a hierarchical reinforcement learning architecture for multimission spaceflight campaign design under uncertainty, including vehicle design, infrastructure deployment planning, and space transportation scheduling. This…

We propose a novel hierarchical reinforcement learning framework for control with continuous state and action spaces. In our framework, the user specifies subgoal regions which are subsets of states; then, we (i) learn options that serve as…

The current thesis aims to explore the reinforcement learning field and build on existing methods to produce improved ones to tackle the problem of learning in high-dimensional and complex environments. It addresses such goals by…

Robust Markov decision processes (MDPs) allow to compute reliable solutions for dynamic decision problems whose evolution is modeled by rewards and partially-known transition probabilities. Unfortunately, accounting for uncertainty in the…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Recent research in decision theoretic planning has focussed on making the solution of Markov decision processes (MDPs) more feasible. We develop a family of algorithms for structured reachability analysis of MDPs that are suitable when an…

Multi-robot task planning requires decomposing natural-language instructions into executable actions for heterogeneous robot teams. Conventional Planning Domain Definition Language (PDDL) planners provide rigorous guarantees but struggle to…

We study robust Markov decision processes (RMDPs) with non-rectangular uncertainty sets, which capture interdependencies across states unlike traditional rectangular models. While non-rectangular robust policy evaluation is generally…

Consumption Markov Decision Processes (CMDPs) are probabilistic decision-making models of resource-constrained systems. In a CMDP, the controller possesses a certain amount of a critical resource, such as electric power. Each action of the…

Large language model (LLM)-based agents are increasingly used to perform complex, multi-step workflows in regulated settings such as compliance and due diligence. However, many agentic architectures rely primarily on prompt engineering of a…

To achieve scenario intelligence, humans must transfer knowledge to robots by developing goal-oriented algorithms, which are sometimes insensitive to dynamically changing environments. While deep reinforcement learning achieves significant…